Glider dive log

Cuddy Oct13 * SG195 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 195 HD_C 1.6100001e-05 ROLL_MAX 3758 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 18 ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PING_DEPTH 100

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 50 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 350 R_STBD_OVSHOOT 33 XPDR_VALID 3

D_BOOST 10 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.77999997

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2820 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 115

T_DIVE 330 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 390 CALL_WAIT 45 PITCH_VBD_SHIFT 0 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -4452.2095 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 207 MINV_24V 19 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3915 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2550 FG_AHR_10V 0 SEABIRD_T_G 0.0043948898

GLIDE_SLOPE 40 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.000640176

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.7039805e-05

RHO 1.023 P_OVSHOOT 0.039999999 PRESSURE_YINT -50.110214 SEABIRD_T_J 3.3535807e-06

MASS 59371 PITCH_GAIN 22.200001 PRESSURE_SLOPE 0.0001168043 SEABIRD_C_G -9.7607336

MASS_COMP 3973.1001 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_H 1.1271561

NAV_MODE 1 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0014806761

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00019408959

KALMAN_USE 12 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 224 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_OFFGRID 100 PHONE_SUPPLY -2 SM_CC 350

AH0_10V 97 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22.200001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3915 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 207 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 330

CALL_NDIVES 1 HD_A 0.003 PRESSURE_SLOPE 0.0001168043 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_YINT -50.110214 T_GPS 5

CALL_WAIT 45 HD_C 1.6100001e-05 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -4452.2095

CAPUPLOAD 0 HEAD_ERRBAND 15 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 390

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 195 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 12

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 290

COMPASS_USE 4 INT_PRESSURE_YINT -0.77999997 RHO 1.023 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 12 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2550 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2820 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3758 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 59371 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 3973.1001 ROLL_MIN 224 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 101 MINV_10V 8 R_PORT_OVSHOOT 50 VBD_MAXERRORS 1

DEVICE3 115 MINV_24V 19 R_STBD_OVSHOOT 33 VBD_MIN 500

DEVICE4 -1 MISSION 8 SEABIRD_C_G -9.7607336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1271561 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_I -0.0014806761 VBD_TIMEOUT 720

DIVE 18 NOCOMM_ACTION 163 SEABIRD_C_J 0.00019408959 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0043948898 XPDR_DEVICE 24

D_BOOST 10 N_FILEKB 4 SEABIRD_T_H 0.000640176 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.7039805e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 3.3535807e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 500 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 281013,003339,4714.869,-12500.428,3,1.0,3,16.7 TGT_NAME SEARCH_A

_CALLS 2 TGT_LATLONG 4750.000,-12525.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.111,0.233

_SM_DEPTHo 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281013,003936,4714.933,-12500.433,5,1.0,5,16.7 MHEAD_RNG_PITCHd_Wd 317.9,71767,-17.6,-10.000,-21.21,2209

SPEED_LIMITS 0.119,0.258 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.023959 _24V_AH 24.1,3.633

SM_CCo 9866,0.00,0.000,0,0,1161,406.95 _10V_AH 10.3,3.608

SM_GC 0.93,6.93,0.00,0.00,0.032,0.000,0.000,180,2031,1161,-7.29,0.17,406.95,0,0,0,0,0,0,25.96,28.83,28.83 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4657.54,-12503.16,281013,000017 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.026215 MEM 314508

HUMID 44.29 DATA_FILE_SIZE 27109,387

INTERNAL_PRESSURE 8.87857 CAP_FILE_SIZE 103620,0

TCM_TEMP 12.70 CFSIZE 2097872896,2093154304

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 443.0,69.7 GPS 281013,032558,4716.341,-12501.037,56,0.8,56,16.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 205 81.40 SBE_CT 264 22 143.06

Roll_motor 68 48 79.71 AA4330 512 11 138.67

VBD_pump_during_apogee 367 847 7507.16 WL_BB2FLVMT 830 105 2102.19

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 9 420 91.10 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.08

TT8 1107 15 173.54

LPSleep 6896 2 155.57

TT8_Active 373 15 58.56

TT8_Sampling 1486 43 668.60

TT8_CF8 64 53 35.35

TT8_Kalman 0 69 0.24

Analog_circuits 1083 14 156.25

GPS_charging 0 0 0.00

Compass 1455 8 123.55

RAFOS 0 0 0.00

Transponder 59 30 18.23

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.79 -146.6 198 2013 647 331 0.0 0.0 0 120 0.00 0.00 -102.85 0.000 16386 0.000 0.000 197 2013 3129 3154 3105 0 0 0 0 0 0 28.83 28.83 28.83

123 -0.79 -146.6 197 2013 3154 3107 3.2 -4.9 10 141 7.68 0.00 -6.88 0.000 18950 0.205 0.000 2288 2013 3419 3433 3405 0 0 0 0 0 0 25.91 28.83 26.50

439 -0.79 -146.6 2287 2013 3437 3405 52.5 -13.2 42 449 0.00 2.12 0.00 0.000 516 0.000 0.040 2288 627 3421 3437 3405 0 0 0 0 0 0 28.83 26.29 28.83

685 -0.79 -146.6 2288 627 3439 3405 85.2 -13.3 65 691 0.00 2.12 0.00 0.000 1030 0.000 0.034 2280 2035 3422 3439 3405 0 0 0 0 0 0 28.83 26.38 28.83

1007 -0.79 -146.6 2280 2035 3438 3405 121.1 -10.8 81 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2035 3421 3438 3405 0 0 0 0 0 0 28.83 28.83 28.83

1325 -0.79 -146.6 2281 2036 3438 3405 156.2 -10.3 96 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2035 3421 3438 3405 0 0 0 0 0 0 28.83 28.83 28.83

1626 -0.79 -146.6 2280 2035 3436 3404 189.1 -11.1 106 1631 0.00 2.15 0.00 0.000 260 0.000 0.047 2270 3426 3420 3436 3404 0 0 0 0 0 0 28.83 26.48 28.83

1748 -0.79 -146.6 2269 3426 3435 3405 202.5 -11.0 110 1754 0.00 2.08 0.00 0.000 1030 0.000 0.028 2270 2016 3420 3436 3404 0 0 0 0 0 0 28.83 26.55 28.83

2078 -0.79 -146.6 2269 2016 3435 3404 236.1 -9.7 121 2084 0.00 2.17 0.00 0.000 260 0.000 0.047 2259 3429 3419 3435 3404 0 0 0 0 0 0 28.83 26.51 28.83

2139 -0.79 -146.6 2259 3429 3435 3403 242.0 -9.7 123 2145 0.10 2.05 0.00 0.000 3078 0.119 0.029 2294 2026 3419 3435 3403 0 0 0 0 0 0 26.41 26.57 28.83

2469 -0.79 -146.6 2293 2026 3435 3401 270.7 -9.1 134 2474 0.00 2.15 0.00 0.000 260 0.000 0.047 2285 3423 3417 3435 3400 0 0 0 0 0 0 28.83 26.53 28.83

2545 -0.79 -146.6 2285 3423 3435 3400 276.3 -8.8 136 2549 0.00 2.08 0.00 0.000 1030 0.000 0.029 2285 2019 3417 3435 3400 0 0 0 0 0 0 28.83 26.59 28.83

2858 -0.79 -146.6 2285 2018 3435 3397 308.5 -10.0 146 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2018 3416 3435 3398 0 0 0 0 0 0 28.83 28.83 28.83

3158 -0.79 -146.6 2286 2019 3433 3398 339.3 -10.3 151 3163 0.00 2.17 0.00 0.000 260 0.000 0.047 2275 3424 3415 3432 3398 0 0 0 0 0 0 28.83 26.56 28.83

3289 -0.79 -146.6 2275 3424 3432 3397 351.2 -10.1 153 3293 0.00 2.08 0.00 0.000 1030 0.000 0.030 2275 2018 3414 3432 3397 0 0 0 0 0 0 28.83 26.63 28.83

3638 -0.79 -146.6 2275 2018 3431 3398 384.2 -9.4 159 3643 0.00 2.15 0.00 0.000 260 0.000 0.047 2265 3420 3414 3431 3397 0 0 0 0 0 0 28.83 26.58 28.83

3789 -0.79 -146.6 2264 3420 3430 3397 397.6 -10.4 161 3793 0.00 2.10 0.00 0.000 1030 0.000 0.030 2265 2029 3414 3431 3397 0 0 0 0 0 0 28.83 26.65 28.83

4119 -0.79 -146.6 2264 2029 3430 3397 433.7 -9.6 167 4124 0.12 2.10 0.00 0.000 2564 0.144 0.041 2305 643 3413 3430 3397 0 0 0 0 0 0 26.53 26.59 28.83

4185 -0.79 -146.6 2305 643 3430 3397 438.8 -9.2 168 4189 0.00 2.10 0.00 0.000 1030 0.000 0.037 2299 2029 3413 3430 3397 0 0 0 0 0 0 28.83 26.63 28.83

4533 -0.79 -146.6 2299 2029 3429 3396 466.1 -7.9 174 4538 0.00 2.17 0.00 0.000 260 0.000 0.048 2289 3437 3412 3429 3396 0 0 0 0 0 0 28.83 26.60 28.83

4600 -0.79 -146.6 2288 3437 3429 3395 471.3 -8.3 175 4604 0.00 2.15 0.00 0.000 1030 0.000 0.031 2288 2019 3412 3429 3395 0 0 0 0 0 0 28.83 26.66 28.83

4953 -0.79 -146.6 2288 2019 3428 3395 502.2 -8.4 181 4959 0.00 2.20 0.00 0.000 260 0.000 0.048 2278 3441 3411 3427 3395 0 0 0 0 0 0 28.83 26.61 28.83

5012 end dive: BOTTOM_OBSTACLE_DETECTED

state 5012 begin apogee

5017 -0.23 0.0 2278 2014 3427 3394 507.2 -8.2 182 5134 0.57 0.00 107.97 0.848 10246 0.100 0.000 2477 2014 2819 2916 2723 0 0 0 0 0 0 26.53 28.83 24.39

5135 end apogee: CONTROL_FINISHED_OK

state 5136 begin climb

5137 0.79 146.6 2477 2014 2916 2724 510.0 0.0 184 5257 0.90 0.00 115.50 0.844 10758 0.057 0.000 2805 2014 2222 2344 2100 0 0 0 0 0 0 25.16 28.83 24.08

5553 0.79 146.6 2805 2014 2342 2098 466.6 12.3 191 5554 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2014 2220 2343 2098 0 0 0 0 0 0 28.83 28.83 28.83

5853 0.79 146.6 2805 2014 2341 2098 431.1 11.6 196 5859 0.00 2.17 0.00 0.000 516 0.000 0.044 2816 626 2219 2341 2097 0 0 0 0 0 0 28.83 26.05 28.83

5946 0.79 146.6 2815 627 2339 2098 423.5 11.8 197 5950 0.00 2.15 0.00 0.000 1030 0.000 0.035 2815 2026 2218 2339 2098 0 0 0 0 0 0 28.83 26.14 28.83

6268 0.79 146.6 2815 2026 2338 2098 375.7 13.7 203 6273 0.00 2.20 0.00 0.000 260 0.000 0.046 2816 3435 2217 2338 2097 0 0 0 0 0 0 28.83 26.23 28.83

6328 0.79 146.6 2815 3435 2337 2098 366.9 14.0 204 6332 0.00 2.15 0.00 0.000 1030 0.000 0.031 2826 2022 2217 2337 2098 0 0 0 0 0 0 28.83 26.29 28.83

6689 0.79 146.6 2825 2022 2337 2096 318.6 13.1 210 6690 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2022 2216 2337 2096 0 0 0 0 0 0 28.83 28.83 28.83

6989 0.79 146.6 2825 2022 2338 2095 281.8 12.2 217 6995 0.00 2.20 0.00 0.000 260 0.000 0.046 2826 3429 2217 2338 2096 0 0 0 0 0 0 28.83 26.39 28.83

7021 0.79 146.6 2825 3429 2337 2095 278.2 12.1 218 7026 0.08 2.15 0.00 0.000 5126 0.140 0.031 2811 2027 2216 2337 2095 0 0 0 0 0 0 26.28 26.44 28.83

7349 0.79 146.6 2811 2027 2337 2095 242.4 10.5 229 7351 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2027 2216 2337 2095 0 0 0 0 0 0 28.83 28.83 28.83

7649 0.79 146.6 2811 2027 2337 2094 210.6 10.7 239 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2027 2216 2337 2095 0 0 0 0 0 0 28.83 28.83 28.83

7949 0.79 146.6 2811 2027 2337 2094 176.2 11.7 249 7953 0.00 2.15 0.00 0.000 516 0.000 0.044 2819 631 2215 2337 2094 0 0 0 0 0 0 28.83 26.50 28.83

7988 0.79 146.6 2819 631 2336 2095 172.6 11.7 250 7992 0.00 2.12 0.00 0.000 1030 0.000 0.035 2819 2034 2214 2336 2093 0 0 0 0 0 0 28.83 26.53 28.83

8311 0.79 146.6 2819 2034 2336 2095 134.9 11.5 263 8317 0.00 2.15 0.00 0.000 260 0.000 0.046 2819 3429 2215 2335 2095 0 0 0 0 0 0 28.83 26.51 28.83

8393 0.79 146.6 2818 3429 2336 2095 124.8 12.7 267 8398 0.00 2.15 0.00 0.000 1030 0.000 0.030 2829 2015 2215 2336 2095 0 0 0 0 0 0 28.83 26.57 28.83

8711 0.79 146.6 2829 2015 2336 2095 87.2 11.5 283 8717 0.00 2.12 0.00 0.000 516 0.000 0.044 2839 627 2215 2336 2095 0 0 0 0 0 0 28.83 26.53 28.83

8936 0.79 146.6 2838 627 2336 2095 61.9 11.5 302 8946 0.10 2.15 0.00 0.000 5126 0.124 0.035 2805 2017 2215 2336 2095 0 0 0 0 0 0 26.45 26.60 28.83

9245 0.79 239.9 2805 2018 2336 2095 39.7 5.7 333 9316 0.00 0.00 68.80 0.571 8454 0.000 0.000 2805 2018 1840 1984 1696 0 0 0 0 0 0 28.83 28.83 25.22

9615 0.79 323.4 2805 2018 1983 1687 14.2 6.1 370 9659 0.00 2.22 38.75 0.478 8708 0.000 0.044 2808 624 1498 1644 1352 0 0 0 0 0 0 28.83 25.72 25.22

9682 0.79 404.3 2808 623 1641 1349 9.9 6.2 376 9725 0.00 2.20 36.47 0.076 9222 0.000 0.034 2808 2031 1169 1322 1017 0 0 0 0 0 0 28.83 25.82 25.75

9771 end climb: SURFACE_DEPTH_REACHED

state 9772 begin surface coast

9793 end surface coast: CONTROL_FINISHED_OK

state 9793 begin surface

ID	195	HD_C	1.6100001e-05	ROLL_MAX	3758	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	18	ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PING_DEPTH	100
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	50	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	350	R_STBD_OVSHOOT	33	XPDR_VALID	3
D_BOOST	10	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.77999997
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2820	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	115
T_DIVE	330	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	390	CALL_WAIT	45	PITCH_VBD_SHIFT	0	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-4452.2095	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	207	MINV_24V	19	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3915	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2550	FG_AHR_10V	0	SEABIRD_T_G	0.0043948898
GLIDE_SLOPE	40	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.000640176
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.7039805e-05
RHO	1.023	P_OVSHOOT	0.039999999	PRESSURE_YINT	-50.110214	SEABIRD_T_J	3.3535807e-06
MASS	59371	PITCH_GAIN	22.200001	PRESSURE_SLOPE	0.0001168043	SEABIRD_C_G	-9.7607336
MASS_COMP	3973.1001	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_H	1.1271561
NAV_MODE	1	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0014806761
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00019408959
KALMAN_USE	12	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	224	ALTIM_TOP_PING_RANGE	0

GPS1	281013,003339,4714.869,-12500.428,3,1.0,3,16.7	TGT_NAME	SEARCH_A
_CALLS	2	TGT_LATLONG	4750.000,-12525.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.111,0.233
_SM_DEPTHo	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281013,003936,4714.933,-12500.433,5,1.0,5,16.7	MHEAD_RNG_PITCHd_Wd	317.9,71767,-17.6,-10.000,-21.21,2209
SPEED_LIMITS	0.119,0.258	D_GRID	990

FINISH	-0.1,1.023959	_24V_AH	24.1,3.633
SM_CCo	9866,0.00,0.000,0,0,1161,406.95	_10V_AH	10.3,3.608
SM_GC	0.93,6.93,0.00,0.00,0.032,0.000,0.000,180,2031,1161,-7.29,0.17,406.95,0,0,0,0,0,0,25.96,28.83,28.83	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4657.54,-12503.16,281013,000017	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.026215	MEM	314508
HUMID	44.29	DATA_FILE_SIZE	27109,387
INTERNAL_PRESSURE	8.87857	CAP_FILE_SIZE	103620,0
TCM_TEMP	12.70	CFSIZE	2097872896,2093154304
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	443.0,69.7	GPS	281013,032558,4716.341,-12501.037,56,0.8,56,16.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	205	81.40	SBE_CT	264	22	143.06
Roll_motor	68	48	79.71	AA4330	512	11	138.67
VBD_pump_during_apogee	367	847	7507.16	WL_BB2FLVMT	830	105	2102.19
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	9	420	91.10	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.08
TT8	1107	15	173.54
LPSleep	6896	2	155.57
TT8_Active	373	15	58.56
TT8_Sampling	1486	43	668.60
TT8_CF8	64	53	35.35
TT8_Kalman	0	69	0.24
Analog_circuits	1083	14	156.25
GPS_charging	0	0	0.00
Compass	1455	8	123.55
RAFOS	0	0	0.00
Transponder	59	30	18.23

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.79	-146.6	198	2013	647	331	0.0	0.0	0	120	0.00	0.00	-102.85	0.000	16386	0.000	0.000	197	2013	3129	3154	3105	0	0	0	0	0	0	28.83	28.83	28.83
123	-0.79	-146.6	197	2013	3154	3107	3.2	-4.9	10	141	7.68	0.00	-6.88	0.000	18950	0.205	0.000	2288	2013	3419	3433	3405	0	0	0	0	0	0	25.91	28.83	26.50
439	-0.79	-146.6	2287	2013	3437	3405	52.5	-13.2	42	449	0.00	2.12	0.00	0.000	516	0.000	0.040	2288	627	3421	3437	3405	0	0	0	0	0	0	28.83	26.29	28.83
685	-0.79	-146.6	2288	627	3439	3405	85.2	-13.3	65	691	0.00	2.12	0.00	0.000	1030	0.000	0.034	2280	2035	3422	3439	3405	0	0	0	0	0	0	28.83	26.38	28.83
1007	-0.79	-146.6	2280	2035	3438	3405	121.1	-10.8	81	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	2281	2035	3421	3438	3405	0	0	0	0	0	0	28.83	28.83	28.83
1325	-0.79	-146.6	2281	2036	3438	3405	156.2	-10.3	96	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2035	3421	3438	3405	0	0	0	0	0	0	28.83	28.83	28.83
1626	-0.79	-146.6	2280	2035	3436	3404	189.1	-11.1	106	1631	0.00	2.15	0.00	0.000	260	0.000	0.047	2270	3426	3420	3436	3404	0	0	0	0	0	0	28.83	26.48	28.83
1748	-0.79	-146.6	2269	3426	3435	3405	202.5	-11.0	110	1754	0.00	2.08	0.00	0.000	1030	0.000	0.028	2270	2016	3420	3436	3404	0	0	0	0	0	0	28.83	26.55	28.83
2078	-0.79	-146.6	2269	2016	3435	3404	236.1	-9.7	121	2084	0.00	2.17	0.00	0.000	260	0.000	0.047	2259	3429	3419	3435	3404	0	0	0	0	0	0	28.83	26.51	28.83
2139	-0.79	-146.6	2259	3429	3435	3403	242.0	-9.7	123	2145	0.10	2.05	0.00	0.000	3078	0.119	0.029	2294	2026	3419	3435	3403	0	0	0	0	0	0	26.41	26.57	28.83
2469	-0.79	-146.6	2293	2026	3435	3401	270.7	-9.1	134	2474	0.00	2.15	0.00	0.000	260	0.000	0.047	2285	3423	3417	3435	3400	0	0	0	0	0	0	28.83	26.53	28.83
2545	-0.79	-146.6	2285	3423	3435	3400	276.3	-8.8	136	2549	0.00	2.08	0.00	0.000	1030	0.000	0.029	2285	2019	3417	3435	3400	0	0	0	0	0	0	28.83	26.59	28.83
2858	-0.79	-146.6	2285	2018	3435	3397	308.5	-10.0	146	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2018	3416	3435	3398	0	0	0	0	0	0	28.83	28.83	28.83
3158	-0.79	-146.6	2286	2019	3433	3398	339.3	-10.3	151	3163	0.00	2.17	0.00	0.000	260	0.000	0.047	2275	3424	3415	3432	3398	0	0	0	0	0	0	28.83	26.56	28.83
3289	-0.79	-146.6	2275	3424	3432	3397	351.2	-10.1	153	3293	0.00	2.08	0.00	0.000	1030	0.000	0.030	2275	2018	3414	3432	3397	0	0	0	0	0	0	28.83	26.63	28.83
3638	-0.79	-146.6	2275	2018	3431	3398	384.2	-9.4	159	3643	0.00	2.15	0.00	0.000	260	0.000	0.047	2265	3420	3414	3431	3397	0	0	0	0	0	0	28.83	26.58	28.83
3789	-0.79	-146.6	2264	3420	3430	3397	397.6	-10.4	161	3793	0.00	2.10	0.00	0.000	1030	0.000	0.030	2265	2029	3414	3431	3397	0	0	0	0	0	0	28.83	26.65	28.83
4119	-0.79	-146.6	2264	2029	3430	3397	433.7	-9.6	167	4124	0.12	2.10	0.00	0.000	2564	0.144	0.041	2305	643	3413	3430	3397	0	0	0	0	0	0	26.53	26.59	28.83
4185	-0.79	-146.6	2305	643	3430	3397	438.8	-9.2	168	4189	0.00	2.10	0.00	0.000	1030	0.000	0.037	2299	2029	3413	3430	3397	0	0	0	0	0	0	28.83	26.63	28.83
4533	-0.79	-146.6	2299	2029	3429	3396	466.1	-7.9	174	4538	0.00	2.17	0.00	0.000	260	0.000	0.048	2289	3437	3412	3429	3396	0	0	0	0	0	0	28.83	26.60	28.83
4600	-0.79	-146.6	2288	3437	3429	3395	471.3	-8.3	175	4604	0.00	2.15	0.00	0.000	1030	0.000	0.031	2288	2019	3412	3429	3395	0	0	0	0	0	0	28.83	26.66	28.83
4953	-0.79	-146.6	2288	2019	3428	3395	502.2	-8.4	181	4959	0.00	2.20	0.00	0.000	260	0.000	0.048	2278	3441	3411	3427	3395	0	0	0	0	0	0	28.83	26.61	28.83
5012	end dive: BOTTOM_OBSTACLE_DETECTED
state	5012	begin apogee
5017	-0.23	0.0	2278	2014	3427	3394	507.2	-8.2	182	5134	0.57	0.00	107.97	0.848	10246	0.100	0.000	2477	2014	2819	2916	2723	0	0	0	0	0	0	26.53	28.83	24.39
5135	end apogee: CONTROL_FINISHED_OK
state	5136	begin climb
5137	0.79	146.6	2477	2014	2916	2724	510.0	0.0	184	5257	0.90	0.00	115.50	0.844	10758	0.057	0.000	2805	2014	2222	2344	2100	0	0	0	0	0	0	25.16	28.83	24.08
5553	0.79	146.6	2805	2014	2342	2098	466.6	12.3	191	5554	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2014	2220	2343	2098	0	0	0	0	0	0	28.83	28.83	28.83
5853	0.79	146.6	2805	2014	2341	2098	431.1	11.6	196	5859	0.00	2.17	0.00	0.000	516	0.000	0.044	2816	626	2219	2341	2097	0	0	0	0	0	0	28.83	26.05	28.83
5946	0.79	146.6	2815	627	2339	2098	423.5	11.8	197	5950	0.00	2.15	0.00	0.000	1030	0.000	0.035	2815	2026	2218	2339	2098	0	0	0	0	0	0	28.83	26.14	28.83
6268	0.79	146.6	2815	2026	2338	2098	375.7	13.7	203	6273	0.00	2.20	0.00	0.000	260	0.000	0.046	2816	3435	2217	2338	2097	0	0	0	0	0	0	28.83	26.23	28.83
6328	0.79	146.6	2815	3435	2337	2098	366.9	14.0	204	6332	0.00	2.15	0.00	0.000	1030	0.000	0.031	2826	2022	2217	2337	2098	0	0	0	0	0	0	28.83	26.29	28.83
6689	0.79	146.6	2825	2022	2337	2096	318.6	13.1	210	6690	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2022	2216	2337	2096	0	0	0	0	0	0	28.83	28.83	28.83
6989	0.79	146.6	2825	2022	2338	2095	281.8	12.2	217	6995	0.00	2.20	0.00	0.000	260	0.000	0.046	2826	3429	2217	2338	2096	0	0	0	0	0	0	28.83	26.39	28.83
7021	0.79	146.6	2825	3429	2337	2095	278.2	12.1	218	7026	0.08	2.15	0.00	0.000	5126	0.140	0.031	2811	2027	2216	2337	2095	0	0	0	0	0	0	26.28	26.44	28.83
7349	0.79	146.6	2811	2027	2337	2095	242.4	10.5	229	7351	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2027	2216	2337	2095	0	0	0	0	0	0	28.83	28.83	28.83
7649	0.79	146.6	2811	2027	2337	2094	210.6	10.7	239	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2027	2216	2337	2095	0	0	0	0	0	0	28.83	28.83	28.83
7949	0.79	146.6	2811	2027	2337	2094	176.2	11.7	249	7953	0.00	2.15	0.00	0.000	516	0.000	0.044	2819	631	2215	2337	2094	0	0	0	0	0	0	28.83	26.50	28.83
7988	0.79	146.6	2819	631	2336	2095	172.6	11.7	250	7992	0.00	2.12	0.00	0.000	1030	0.000	0.035	2819	2034	2214	2336	2093	0	0	0	0	0	0	28.83	26.53	28.83
8311	0.79	146.6	2819	2034	2336	2095	134.9	11.5	263	8317	0.00	2.15	0.00	0.000	260	0.000	0.046	2819	3429	2215	2335	2095	0	0	0	0	0	0	28.83	26.51	28.83
8393	0.79	146.6	2818	3429	2336	2095	124.8	12.7	267	8398	0.00	2.15	0.00	0.000	1030	0.000	0.030	2829	2015	2215	2336	2095	0	0	0	0	0	0	28.83	26.57	28.83
8711	0.79	146.6	2829	2015	2336	2095	87.2	11.5	283	8717	0.00	2.12	0.00	0.000	516	0.000	0.044	2839	627	2215	2336	2095	0	0	0	0	0	0	28.83	26.53	28.83
8936	0.79	146.6	2838	627	2336	2095	61.9	11.5	302	8946	0.10	2.15	0.00	0.000	5126	0.124	0.035	2805	2017	2215	2336	2095	0	0	0	0	0	0	26.45	26.60	28.83
9245	0.79	239.9	2805	2018	2336	2095	39.7	5.7	333	9316	0.00	0.00	68.80	0.571	8454	0.000	0.000	2805	2018	1840	1984	1696	0	0	0	0	0	0	28.83	28.83	25.22
9615	0.79	323.4	2805	2018	1983	1687	14.2	6.1	370	9659	0.00	2.22	38.75	0.478	8708	0.000	0.044	2808	624	1498	1644	1352	0	0	0	0	0	0	28.83	25.72	25.22
9682	0.79	404.3	2808	623	1641	1349	9.9	6.2	376	9725	0.00	2.20	36.47	0.076	9222	0.000	0.034	2808	2031	1169	1322	1017	0	0	0	0	0	0	28.83	25.82	25.75
9771	end climb: SURFACE_DEPTH_REACHED
state	9772	begin surface coast
9793	end surface coast: CONTROL_FINISHED_OK
state	9793	begin surface